Fractional Control of Legged Robots

Silva, Manuel F.; Machado, J. A. Tenreiro

doi:10.1007/978-3-642-14788-3_48

Fractional Control of Legged Robots

Manuel F. Silva⁴ &
J. A. Tenreiro Machado⁴

Conference paper
First Online: 01 January 2011

1413 Accesses
3 Citations

Part of the book series: Springer Proceedings in Mathematics ((PROM,volume 2))

Abstract

Fractional calculus (FC) is being used in several distinct areas of science and engineering, being recognized its ability to yield a superior modelling and control in many dynamical systems. This article illustrates the application of FC in the area of robot control. A Fractional Order PD^μ controller is proposed for the control of an hexapod robot with 3 dof legs. It is demonstrated the superior performance of the system by using the FC concepts.

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References

Silva, M.F., Machado, J.A.T.: A historical perspective of legged Robots. J. Vib. Control 13(9–10), 1447–1486 (2007)
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Silva, M.F., Machado, J.A.T., Lopes, A.M.: Comparison of Fractional and Integer Order Control of an Hexapod Robot. In: Proceedings of the VIB 2003 – ASME International 19th Biennial Conference on Mechanical Vibration and Noise. USA (2003)
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Silva, M.F., Machado, J.A.T., Jesus, I.S.: Modelling and Simulation of Walking Robots With 3 dof Legs. In: Proceedings of the MIC 2006 – The 25th IASTED International Conference on Modelling, Identification and Control. Lanzarote, Spain (2006)
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Silva, M.F., Machado, J.A.T.: Position/Force control of a walking Robot. MIROC Mach. Intell. Robot Control 5, 33–44 (2003)
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Silva, M.F., Machado, J.A.T.: Kinematic and dynamic performance analysis of artificial legged systems. Robotica 26(1), 19–39 (2008)
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Authors and Affiliations

Department of Electrotechnical Engineering, Institute of Engineering of Porto, Rua Dr. António Bernardino de Almeida, 431, 4200-072, Porto, Portugal
Manuel F. Silva & J. A. Tenreiro Machado

Authors

Manuel F. Silva
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J. A. Tenreiro Machado
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Corresponding author

Correspondence to Manuel F. Silva .

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Editors and Affiliations

Pura e Aplicada (IMPA), Instituto de Matemática, Estrada Dona Castorina 110, Rio de Janeiro, 22460-320, Rio de Janeiro, Brazil
Mauricio Matos Peixoto
Faculdade de Ciências, Departamento de Matemática, Universidade do Porto, Rua do Campo Alegre 687, Porto, 4169-007, Portugal
Alberto Adrego Pinto
Warwick Systems Biology, University of Warwick, Coventry House, Coventry, CV4 7AL, United Kingdom
David A. Rand

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Silva, M.F., Machado, J.A.T. (2011). Fractional Control of Legged Robots. In: Peixoto, M., Pinto, A., Rand, D. (eds) Dynamics, Games and Science II. Springer Proceedings in Mathematics, vol 2. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-14788-3_48

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DOI: https://doi.org/10.1007/978-3-642-14788-3_48
Published: 12 April 2011
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-14787-6
Online ISBN: 978-3-642-14788-3
eBook Packages: Mathematics and StatisticsMathematics and Statistics (R0)

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